Control | Stiffness?, Joint?, Locomotion?, Cartesian?, Whole body?. |
Reflexes | Self-collision avoidance?, External-collision avoidance?, Fall manager?, Smart Stiffness Diagnosis effect?, Push Recovery?, Slope compensation?. |
Idle | Idle?. |
Tools | General tools?, Motion task?. |
Task \ Processor | Atom (NAO V4) |
update Model | 3% |
walking | 10.8% |
Group | Main adaptations | For further details, see ... |
Stiffness | Manual Stiffness control is forbidden for Pepper‘s lower part. | Stiffness control? |
Locomotion control | Specific stability constraints on the leg.Locomotion methods are prohibited if power hatch? is open. | Locomotion control? |
Cartesian control | Most of the methods are unusable. | Cartesian control? |
Whole Body control | Do not use any Whole Body control methods. | Whole Body control? |
Safety reflexes | A specific safety reflex is dedicated. | Push Recovery? |
A specific safety reflex is dedicated. | Slope compensation? | |
Frontal security distance is correlated with speed. | External-collision avoidance? | |
Hardware issues trigger specific Rest reflexes?. | Diagnosis effect? |
Method | NAO | Pepper |
ALMotionProxy::setCollisionProtlectionEnabled? | OK | OK |
ALMotionProxy::setDiagnosisEffectEnabled? | OK | OK |
ALMotionProxy::setSmartStiffnessEnabled? | OK | OK |
ALMotionProxy::setExternalCollisionProtectionEnabled? | OK | Critical, Arms excepted |
ALMotionProxy::setFallManagerEnabled? | Critical | Critical |
ALMotionProxy::setPushRecoveryEnabled? | NA | Critical |